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   <div id="projectname">MRSL JPS3D Library
   &#160;<span id="projectnumber">1.1</span>
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   <div id="projectbrief">An implementaion of Jump Point Search on 3D voxel map</div>
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<li class="navelem"><b>JPS</b></li><li class="navelem"><a class="el" href="classJPS_1_1MapUtil.html">MapUtil</a></li>  </ul>
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<a href="classJPS_1_1MapUtil-members.html">List of all members</a>  </div>
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<div class="title">JPS::MapUtil&lt; Dim &gt; Class Template Reference</div>  </div>
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<p><code>#include &lt;<a class="el" href="map__util_8h_source.html">map_util.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:aa8fd6e0ec48b26aa2389d1fb0abc98ab"><td class="memItemLeft" align="right" valign="top"><a id="aa8fd6e0ec48b26aa2389d1fb0abc98ab"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#aa8fd6e0ec48b26aa2389d1fb0abc98ab">MapUtil</a> ()</td></tr>
<tr class="memdesc:aa8fd6e0ec48b26aa2389d1fb0abc98ab"><td class="mdescLeft">&#160;</td><td class="mdescRight">Simple constructor. <br /></td></tr>
<tr class="separator:aa8fd6e0ec48b26aa2389d1fb0abc98ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a063970737c83a879af2a5a3048fbbcb0"><td class="memItemLeft" align="right" valign="top"><a id="a063970737c83a879af2a5a3048fbbcb0"></a>
<a class="el" href="map__util_8h.html#ae95b386410227fb07270118da3a80230">Tmap</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a063970737c83a879af2a5a3048fbbcb0">getMap</a> ()</td></tr>
<tr class="memdesc:a063970737c83a879af2a5a3048fbbcb0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get map data. <br /></td></tr>
<tr class="separator:a063970737c83a879af2a5a3048fbbcb0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3a631a3e8602ae94b5e80aa498b98432"><td class="memItemLeft" align="right" valign="top"><a id="a3a631a3e8602ae94b5e80aa498b98432"></a>
<a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a3a631a3e8602ae94b5e80aa498b98432">getRes</a> ()</td></tr>
<tr class="memdesc:a3a631a3e8602ae94b5e80aa498b98432"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get resolution. <br /></td></tr>
<tr class="separator:a3a631a3e8602ae94b5e80aa498b98432"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8f76efd339f007430e9be8369c7cbe8b"><td class="memItemLeft" align="right" valign="top"><a id="a8f76efd339f007430e9be8369c7cbe8b"></a>
<a class="el" href="data__type_8h.html#ac208833a6aa7ec29f39eb5ae142aaede">Veci</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a8f76efd339f007430e9be8369c7cbe8b">getDim</a> ()</td></tr>
<tr class="memdesc:a8f76efd339f007430e9be8369c7cbe8b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get dimensions. <br /></td></tr>
<tr class="separator:a8f76efd339f007430e9be8369c7cbe8b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acd6b8009a980068b78fbfd61947cc454"><td class="memItemLeft" align="right" valign="top"><a id="acd6b8009a980068b78fbfd61947cc454"></a>
<a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#acd6b8009a980068b78fbfd61947cc454">getOrigin</a> ()</td></tr>
<tr class="memdesc:acd6b8009a980068b78fbfd61947cc454"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get origin. <br /></td></tr>
<tr class="separator:acd6b8009a980068b78fbfd61947cc454"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5ac31d74de462b53f15a4e4b72516b68"><td class="memItemLeft" align="right" valign="top"><a id="a5ac31d74de462b53f15a4e4b72516b68"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a5ac31d74de462b53f15a4e4b72516b68">getIndex</a> (const <a class="el" href="data__type_8h.html#ac208833a6aa7ec29f39eb5ae142aaede">Veci</a>&lt; Dim &gt; &amp;pn)</td></tr>
<tr class="memdesc:a5ac31d74de462b53f15a4e4b72516b68"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get index of a cell. <br /></td></tr>
<tr class="separator:a5ac31d74de462b53f15a4e4b72516b68"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a91b5bba88e83d37f597a9d3f905bb6cc"><td class="memItemLeft" align="right" valign="top"><a id="a91b5bba88e83d37f597a9d3f905bb6cc"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a91b5bba88e83d37f597a9d3f905bb6cc">isOutsideXYZ</a> (const <a class="el" href="data__type_8h.html#ac208833a6aa7ec29f39eb5ae142aaede">Veci</a>&lt; Dim &gt; &amp;n, int i)</td></tr>
<tr class="memdesc:a91b5bba88e83d37f597a9d3f905bb6cc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the given cell is outside of the map in i-the dimension. <br /></td></tr>
<tr class="separator:a91b5bba88e83d37f597a9d3f905bb6cc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9f3ae5f032931a5671b9f406086af719"><td class="memItemLeft" align="right" valign="top"><a id="a9f3ae5f032931a5671b9f406086af719"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a9f3ae5f032931a5671b9f406086af719">isFree</a> (int idx)</td></tr>
<tr class="memdesc:a9f3ae5f032931a5671b9f406086af719"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the cell is free by index. <br /></td></tr>
<tr class="separator:a9f3ae5f032931a5671b9f406086af719"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7d9204506b953011d256d1baee5fa4c5"><td class="memItemLeft" align="right" valign="top"><a id="a7d9204506b953011d256d1baee5fa4c5"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a7d9204506b953011d256d1baee5fa4c5">isUnknown</a> (int idx)</td></tr>
<tr class="memdesc:a7d9204506b953011d256d1baee5fa4c5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the cell is unknown by index. <br /></td></tr>
<tr class="separator:a7d9204506b953011d256d1baee5fa4c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae189397c064965d44b2f94b91011ea52"><td class="memItemLeft" align="right" valign="top"><a id="ae189397c064965d44b2f94b91011ea52"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#ae189397c064965d44b2f94b91011ea52">isOccupied</a> (int idx)</td></tr>
<tr class="memdesc:ae189397c064965d44b2f94b91011ea52"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the cell is occupied by index. <br /></td></tr>
<tr class="separator:ae189397c064965d44b2f94b91011ea52"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a20a80b81495d9b7694d297ea01d8b409"><td class="memItemLeft" align="right" valign="top"><a id="a20a80b81495d9b7694d297ea01d8b409"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a20a80b81495d9b7694d297ea01d8b409">isOutside</a> (const <a class="el" href="data__type_8h.html#ac208833a6aa7ec29f39eb5ae142aaede">Veci</a>&lt; Dim &gt; &amp;pn)</td></tr>
<tr class="memdesc:a20a80b81495d9b7694d297ea01d8b409"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the cell is outside by coordinate. <br /></td></tr>
<tr class="separator:a20a80b81495d9b7694d297ea01d8b409"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7f11bf3aade5f92e25c50eba562df534"><td class="memItemLeft" align="right" valign="top"><a id="a7f11bf3aade5f92e25c50eba562df534"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a7f11bf3aade5f92e25c50eba562df534">isFree</a> (const <a class="el" href="data__type_8h.html#ac208833a6aa7ec29f39eb5ae142aaede">Veci</a>&lt; Dim &gt; &amp;pn)</td></tr>
<tr class="memdesc:a7f11bf3aade5f92e25c50eba562df534"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the given cell is free by coordinate. <br /></td></tr>
<tr class="separator:a7f11bf3aade5f92e25c50eba562df534"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6bfb96298e94e17750691556cb092726"><td class="memItemLeft" align="right" valign="top"><a id="a6bfb96298e94e17750691556cb092726"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a6bfb96298e94e17750691556cb092726">isOccupied</a> (const <a class="el" href="data__type_8h.html#ac208833a6aa7ec29f39eb5ae142aaede">Veci</a>&lt; Dim &gt; &amp;pn)</td></tr>
<tr class="memdesc:a6bfb96298e94e17750691556cb092726"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the given cell is occupied by coordinate. <br /></td></tr>
<tr class="separator:a6bfb96298e94e17750691556cb092726"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aec0709f3e97aa23c6cbd9fb13c6beb0d"><td class="memItemLeft" align="right" valign="top"><a id="aec0709f3e97aa23c6cbd9fb13c6beb0d"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#aec0709f3e97aa23c6cbd9fb13c6beb0d">isUnknown</a> (const <a class="el" href="data__type_8h.html#ac208833a6aa7ec29f39eb5ae142aaede">Veci</a>&lt; Dim &gt; &amp;pn)</td></tr>
<tr class="memdesc:aec0709f3e97aa23c6cbd9fb13c6beb0d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the given cell is unknown by coordinate. <br /></td></tr>
<tr class="separator:aec0709f3e97aa23c6cbd9fb13c6beb0d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a46c58b74f9236571bf0f0c13c36e1799"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a46c58b74f9236571bf0f0c13c36e1799">setMap</a> (const <a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt; &amp;ori, const <a class="el" href="data__type_8h.html#ac208833a6aa7ec29f39eb5ae142aaede">Veci</a>&lt; Dim &gt; &amp;dim, const <a class="el" href="map__util_8h.html#ae95b386410227fb07270118da3a80230">Tmap</a> &amp;map, <a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a> res)</td></tr>
<tr class="memdesc:a46c58b74f9236571bf0f0c13c36e1799"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set map.  <a href="#a46c58b74f9236571bf0f0c13c36e1799">More...</a><br /></td></tr>
<tr class="separator:a46c58b74f9236571bf0f0c13c36e1799"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab37f13016c575616c2861c363d6fc100"><td class="memItemLeft" align="right" valign="top"><a id="ab37f13016c575616c2861c363d6fc100"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#ab37f13016c575616c2861c363d6fc100">info</a> ()</td></tr>
<tr class="memdesc:ab37f13016c575616c2861c363d6fc100"><td class="mdescLeft">&#160;</td><td class="mdescRight">Print basic information about the util. <br /></td></tr>
<tr class="separator:ab37f13016c575616c2861c363d6fc100"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ace5ba6ed83f0adaad09284913bef1d97"><td class="memItemLeft" align="right" valign="top"><a id="ace5ba6ed83f0adaad09284913bef1d97"></a>
<a class="el" href="data__type_8h.html#ac208833a6aa7ec29f39eb5ae142aaede">Veci</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#ace5ba6ed83f0adaad09284913bef1d97">floatToInt</a> (const <a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt; &amp;pt)</td></tr>
<tr class="memdesc:ace5ba6ed83f0adaad09284913bef1d97"><td class="mdescLeft">&#160;</td><td class="mdescRight">Float position to discrete cell coordinate. <br /></td></tr>
<tr class="separator:ace5ba6ed83f0adaad09284913bef1d97"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1ab3654115ae825874d3d551683886a9"><td class="memItemLeft" align="right" valign="top"><a id="a1ab3654115ae825874d3d551683886a9"></a>
<a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a1ab3654115ae825874d3d551683886a9">intToFloat</a> (const <a class="el" href="data__type_8h.html#ac208833a6aa7ec29f39eb5ae142aaede">Veci</a>&lt; Dim &gt; &amp;pn)</td></tr>
<tr class="memdesc:a1ab3654115ae825874d3d551683886a9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Discrete cell coordinate to float position. <br /></td></tr>
<tr class="separator:a1ab3654115ae825874d3d551683886a9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa8548996d3399404b33570188c8b5f10"><td class="memItemLeft" align="right" valign="top"><a id="aa8548996d3399404b33570188c8b5f10"></a>
<a class="el" href="data__type_8h.html#afb24b810e24942cb8cafdd097b8272fb">vec_Veci</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#aa8548996d3399404b33570188c8b5f10">rayTrace</a> (const <a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt; &amp;pt1, const <a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt; &amp;pt2)</td></tr>
<tr class="memdesc:aa8548996d3399404b33570188c8b5f10"><td class="mdescLeft">&#160;</td><td class="mdescRight">Raytrace from float point pt1 to pt2. <br /></td></tr>
<tr class="separator:aa8548996d3399404b33570188c8b5f10"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a966c0cc062c81a1cdb223ba4a825d4d6"><td class="memItemLeft" align="right" valign="top"><a id="a966c0cc062c81a1cdb223ba4a825d4d6"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a966c0cc062c81a1cdb223ba4a825d4d6">isBlocked</a> (const <a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt; &amp;p1, const <a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt; &amp;p2, int8_t val=100)</td></tr>
<tr class="memdesc:a966c0cc062c81a1cdb223ba4a825d4d6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the ray from p1 to p2 is occluded. <br /></td></tr>
<tr class="separator:a966c0cc062c81a1cdb223ba4a825d4d6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa53c0c359bc1f8f7bcb0b647365af0e0"><td class="memItemLeft" align="right" valign="top"><a id="aa53c0c359bc1f8f7bcb0b647365af0e0"></a>
<a class="el" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#aa53c0c359bc1f8f7bcb0b647365af0e0">getCloud</a> ()</td></tr>
<tr class="memdesc:aa53c0c359bc1f8f7bcb0b647365af0e0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get occupied voxels. <br /></td></tr>
<tr class="separator:aa53c0c359bc1f8f7bcb0b647365af0e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3cc3638cc80cfdff8a38b857c5c7d021"><td class="memItemLeft" align="right" valign="top"><a id="a3cc3638cc80cfdff8a38b857c5c7d021"></a>
<a class="el" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a3cc3638cc80cfdff8a38b857c5c7d021">getFreeCloud</a> ()</td></tr>
<tr class="memdesc:a3cc3638cc80cfdff8a38b857c5c7d021"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get free voxels. <br /></td></tr>
<tr class="separator:a3cc3638cc80cfdff8a38b857c5c7d021"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada6443edeaf252cf6f52ae3da5cbfa29"><td class="memItemLeft" align="right" valign="top"><a id="ada6443edeaf252cf6f52ae3da5cbfa29"></a>
<a class="el" href="data__type_8h.html#a0a3b37beb40c06edc02cb4b7339f2b96">vec_Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#ada6443edeaf252cf6f52ae3da5cbfa29">getUnknownCloud</a> ()</td></tr>
<tr class="memdesc:ada6443edeaf252cf6f52ae3da5cbfa29"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get unknown voxels. <br /></td></tr>
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<tr class="memitem:a5234a558d977c4f873c16a6399c7bd49"><td class="memItemLeft" align="right" valign="top"><a id="a5234a558d977c4f873c16a6399c7bd49"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a5234a558d977c4f873c16a6399c7bd49">dilate</a> (const <a class="el" href="data__type_8h.html#afb24b810e24942cb8cafdd097b8272fb">vec_Veci</a>&lt; Dim &gt; &amp;dilate_neighbor)</td></tr>
<tr class="memdesc:a5234a558d977c4f873c16a6399c7bd49"><td class="mdescLeft">&#160;</td><td class="mdescRight">Dilate occupied cells. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a2bf009d9dde735bb25ce67d4a8ba18c4">freeUnknown</a> ()</td></tr>
<tr class="memdesc:a2bf009d9dde735bb25ce67d4a8ba18c4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Free unknown voxels. <br /></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
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<a class="el" href="map__util_8h.html#ae95b386410227fb07270118da3a80230">Tmap</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a566997fa2a6a96693bbe95a9a31a4f77">map_</a></td></tr>
<tr class="memdesc:a566997fa2a6a96693bbe95a9a31a4f77"><td class="mdescLeft">&#160;</td><td class="mdescRight">Map entity. <br /></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:a9972aed929695ceee20a8db01f23cabd"><td class="memItemLeft" align="right" valign="top"><a id="a9972aed929695ceee20a8db01f23cabd"></a>
<a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a9972aed929695ceee20a8db01f23cabd">res_</a></td></tr>
<tr class="memdesc:a9972aed929695ceee20a8db01f23cabd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resolution. <br /></td></tr>
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<tr class="memitem:a8c33e3cbd3ffa17a193edab6a6c1c93a"><td class="memItemLeft" align="right" valign="top"><a id="a8c33e3cbd3ffa17a193edab6a6c1c93a"></a>
<a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a8c33e3cbd3ffa17a193edab6a6c1c93a">origin_d_</a></td></tr>
<tr class="memdesc:a8c33e3cbd3ffa17a193edab6a6c1c93a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Origin, float type. <br /></td></tr>
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<tr class="memitem:a17867570bcea899f59307997821cc202"><td class="memItemLeft" align="right" valign="top"><a id="a17867570bcea899f59307997821cc202"></a>
<a class="el" href="data__type_8h.html#ac208833a6aa7ec29f39eb5ae142aaede">Veci</a>&lt; Dim &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a17867570bcea899f59307997821cc202">dim_</a></td></tr>
<tr class="memdesc:a17867570bcea899f59307997821cc202"><td class="mdescLeft">&#160;</td><td class="mdescRight">Dimension, int type. <br /></td></tr>
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<tr class="memitem:a66b70270a1e2a713809a6e62f88c3668"><td class="memItemLeft" align="right" valign="top"><a id="a66b70270a1e2a713809a6e62f88c3668"></a>
int8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a66b70270a1e2a713809a6e62f88c3668">val_occ</a> = 100</td></tr>
<tr class="memdesc:a66b70270a1e2a713809a6e62f88c3668"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assume occupied cell has value 100. <br /></td></tr>
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<tr class="memitem:a65e17f5903f5adceaeacfbe964df1fc5"><td class="memItemLeft" align="right" valign="top"><a id="a65e17f5903f5adceaeacfbe964df1fc5"></a>
int8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#a65e17f5903f5adceaeacfbe964df1fc5">val_free</a> = 0</td></tr>
<tr class="memdesc:a65e17f5903f5adceaeacfbe964df1fc5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assume free cell has value 0. <br /></td></tr>
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int8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classJPS_1_1MapUtil.html#adc66622bc8b73a297199bfa1fcf288cd">val_unknown</a> = -1</td></tr>
<tr class="memdesc:adc66622bc8b73a297199bfa1fcf288cd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assume unknown cell has value -1. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;int Dim&gt;<br />
class JPS::MapUtil&lt; Dim &gt;</h3>

<p>The map util class for collision checking </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">Dim</td><td>is the dimension of the workspace </td></tr>
  </table>
  </dd>
</dl>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="a46c58b74f9236571bf0f0c13c36e1799"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a46c58b74f9236571bf0f0c13c36e1799">&#9670;&nbsp;</a></span>setMap()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;int Dim&gt; </div>
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          <td class="memname">void <a class="el" href="classJPS_1_1MapUtil.html">JPS::MapUtil</a>&lt; Dim &gt;::setMap </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="data__type_8h.html#a3a0c45655a5e009e56634ccde0c5c575">Vecf</a>&lt; Dim &gt; &amp;&#160;</td>
          <td class="paramname"><em>ori</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="data__type_8h.html#ac208833a6aa7ec29f39eb5ae142aaede">Veci</a>&lt; Dim &gt; &amp;&#160;</td>
          <td class="paramname"><em>dim</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="map__util_8h.html#ae95b386410227fb07270118da3a80230">Tmap</a> &amp;&#160;</td>
          <td class="paramname"><em>map</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="data__type_8h.html#a7c99d9360fc6cac2762b786e2fb52266">decimal_t</a>&#160;</td>
          <td class="paramname"><em>res</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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</div><div class="memdoc">

<p>Set map. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">ori</td><td>origin position </td></tr>
    <tr><td class="paramname">dim</td><td>number of cells in each dimension </td></tr>
    <tr><td class="paramname">map</td><td>array of cell values </td></tr>
    <tr><td class="paramname">res</td><td>map resolution </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li>include/jps_collision/<a class="el" href="map__util_8h_source.html">map_util.h</a></li>
</ul>
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